Merge pull request #47 from googlesamples/release-urquhart

Release urquhart

augmented-reality-jni-example/app/src/main/jni/scene.cc

@@ -119,7 +119,8 @@ void Scene::Render(const glm::mat4& cur_pose_transformation) {
  gesture_camera_->SetAnchorPosition(position);
 
  frustum_->SetTransformationMatrix(cur_pose_transformation);
-
+ // Set the frustum scale to 4:3, this doesn't necessarily match the physical
+ // camera's aspect ratio, this is just for visualization purposes.
  frustum_->SetScale(
  glm::vec3(1.0f, camera_image_plane_ratio_, image_plane_distance_));
  frustum_->Render(ar_camera_projection_matrix_,

point-cloud-jni-example/app/src/main/jni/point_cloud_drawable.cc

@@ -72,7 +72,7 @@ void PointCloudDrawable::Render(glm::mat4 projection_mat, glm::mat4 view_mat,
  glVertexAttribPointer(vertices_handle_, 3, GL_FLOAT, GL_FALSE, 0, nullptr);
  glBindBuffer(GL_ARRAY_BUFFER, 0);
 
- glDrawArrays(GL_POINTS, 0, vertices.size());
+ glDrawArrays(GL_POINTS, 0, vertices.size() / 3);
 
  glUseProgram(0);
  tango_gl::util::CheckGlError("Pointcloud::Render");

rgb-depth-sync-example/app/src/main/jni/Application.mk

@@ -16,4 +16,4 @@
 
 APP_ABI := armeabi-v7a
 APP_STL := gnustl_static
-APP_PLATFORM := android-19
+APP_PLATFORM := android-19

tango-gl/camera.cpp

@@ -46,4 +46,22 @@ void Camera::SetFieldOfView(float fov) {
 Camera::~Camera() {
 }
 
+glm::mat4 Camera::ProjectionMatrixForCameraIntrinsics(float width, float height,
+ float fx, float fy,
+ float cx, float cy,
+ float near, float far) {
+ const float xscale = near / fx;
+ const float yscale = near / fy;
+
+ const float xoffset = (cx - (width / 2.0)) * xscale;
+ // OpenGL coordinates has y pointing downwards so we negate this term.
+ const float yoffset = -(cy - (height / 2.0)) * yscale;
+
+ return glm::frustum(xscale * -width / 2.0f - xoffset,
+ xscale * width / 2.0f - xoffset,
+ yscale * -height / 2.0f - yoffset,
+ yscale * height / 2.0f - yoffset,
+ near, far);
+}
+
 } // namespace tango_gl

tango-gl/include/tango-gl/camera.h

@@ -32,6 +32,23 @@ class Camera : public Transform {
 
  glm::mat4 GetViewMatrix();
  glm::mat4 GetProjectionMatrix();
+
+ /**
+ * Create an OpenGL perspective matrix from window size, camera intrinsics, and clip settings.
+ *
+ * @param width - The width of the camera image.
+ * @param height - The height of the camera image.
+ * @param fx - The x-axis focal length of the camera.
+ * @param fy - The y-axis focal length of the camera.
+ * @param cx - The x-coordinate principal point in pixels.
+ * @param cy - The y-coordinate principal point in pixels.
+ * @param near - The desired near z-clipping plane.
+ * @param far - The desired far z-clipping plane.
+ */
+ static glm::mat4 ProjectionMatrixForCameraIntrinsics(float width, float height,
+ float fx, float fy,
+ float cx, float cy,
+ float near, float far);
  private:
  float field_of_view_;
  float aspect_ratio_;

tango-gl/shaders.cpp

@@ -18,7 +18,9 @@
 namespace tango_gl {
 namespace shaders {
 std::string GetBasicVertexShader() {
- return "attribute vec4 vertex;\n"
+ return "precision mediump float;\n"
+ "precision mediump int;\n"
+ "attribute vec4 vertex;\n"
  "uniform mat4 mvp;\n"
  "uniform vec4 color;\n"
  "varying vec4 v_color;\n"
@@ -37,7 +39,9 @@ std::string GetBasicFragmentShader() {
 }
 
 std::string GetColorVertexShader() {
- return "attribute vec4 vertex;\n"
+ return "precision mediump float;\n"
+ "precision mediump int;\n"
+ "attribute vec4 vertex;\n"
  "attribute vec4 color;\n"
  "uniform mat4 mvp;\n"
  "varying vec4 v_color;\n"

tango_client_api/include/tango_client_api.h

@@ -241,7 +241,7 @@ typedef struct TangoImageBuffer {
  int64_t frame_number;
  /// Pixel format of data.
  TangoImageFormatType format;
- /// Pixels in RGBA8888 format.
+ /// Pixels in the format of this image buffer.
  uint8_t* data;
 } TangoImageBuffer;
 
@@ -1318,6 +1318,20 @@ TangoErrorType TangoService_Experimental_freeTrajectory(
 TangoErrorType TangoService_Experimental_loadAreaDescription(
  const TangoUUID uuid);
 
+/// Experimental API only, subject to change.
+/// Loads an area description with the specified file path. This allows an
+/// application to load an ADF for relocalization after connecting to the
+/// service. It should only be called after calling TangoService_connect(), and
+/// then only if the connect configuration did not specify an ADF to load, and
+/// did not enable learning mode.
+/// @param file_path The file path for the ADF to load.
+/// @return Returns TANGO_SUCCESS if the ADF is successfully loaded for
+/// relocalization. Returns TANGO_INVALID if the file path is invalid, or an ADF
+/// is already being learned. Returns TANGO_ERROR if communication fails or if
+/// the service needs to be initialized.
+TangoErrorType TangoService_Experimental_loadAreaDescriptionFromFile(
+ const char* file_path);
+
 #ifdef __cplusplus
 }
 #endif